From: Erik Andresen <erik@vontaene.de>
Date: Thu, 3 Sep 2015 10:27:59 +0000 (+0200)
Subject: added gazebo simulation
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=0a59dd47c01d9185d83245bad70edcb14e9ec15a;p=ros_wild_thumper.git

added gazebo simulation
---

diff --git a/.gitignore b/.gitignore
index b948985..17f5faa 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 *.swp
 *.pyc
+*.blend1
diff --git a/launch/gazebo.launch b/launch/gazebo.launch
new file mode 100644
index 0000000..219529a
--- /dev/null
+++ b/launch/gazebo.launch
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<launch>
+	<include file="$(find gazebo_ros)/launch/empty_world.launch" >
+		<arg name="world_name" value="$(find wild_thumper)/worlds/test.world" />
+		<arg name="gui" value="false" />
+	</include>
+
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+
+	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
+
+	<!-- Spawn a robot into Gazebo -->
+	<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" output="screen" />
+
+	<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
+		<remap from="/image" to="/camera/depth/image_raw"/>
+        </node>
+</launch>
diff --git a/launch/model.launch b/launch/model.launch
new file mode 100644
index 0000000..8e4079b
--- /dev/null
+++ b/launch/model.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+	<param name="robot_description" command="$(find xacro)/xacro.py $(find wild_thumper)/urdf/wild_thumper.urdf.xacro"/>
+
+	<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>
+
+	<!-- Spawn a robot into Gazebo -->
+	<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model wild_thumper" />
+</launch>
diff --git a/meshes/wheel_left.stl b/meshes/wheel_left.stl
new file mode 100644
index 0000000..a5cceb3
Binary files /dev/null and b/meshes/wheel_left.stl differ
diff --git a/meshes/wheel_right.stl b/meshes/wheel_right.stl
new file mode 100644
index 0000000..9a46afc
Binary files /dev/null and b/meshes/wheel_right.stl differ
diff --git a/meshes/wild_thumper_4wd.blend b/meshes/wild_thumper_4wd.blend
index 7b0039f..7d886fb 100644
Binary files a/meshes/wild_thumper_4wd.blend and b/meshes/wild_thumper_4wd.blend differ
diff --git a/meshes/wild_thumper_4wd.stl b/meshes/wild_thumper_4wd.stl
index eac11db..a247f71 100644
Binary files a/meshes/wild_thumper_4wd.stl and b/meshes/wild_thumper_4wd.stl differ
diff --git a/urdf/wild_thumper.urdf.xacro b/urdf/wild_thumper.urdf.xacro
index 67e6da7..cf2c672 100644
--- a/urdf/wild_thumper.urdf.xacro
+++ b/urdf/wild_thumper.urdf.xacro
@@ -1,26 +1,34 @@
 <?xml version="1.0"?>
-<robot name="r2" xmlns:xacro="http://ros.org/wiki/xacro">
+<robot name="wild_thumper" xmlns:xacro="http://ros.org/wiki/xacro">
 	<xacro:property name="PI" value="3.1415926535897931" />
 	<xacro:include filename="$(find hector_sensors_description)/urdf/asus_camera.urdf.xacro" />
 
-	<link name="base_link">
+	<link name="base_footprint">
 		<visual>
-			<origin xyz="0 0 -0.13" rpy="0 0 0"/>
 			<geometry>
-				<mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" scale="1 1 1" />
+				<box size="0.28 0.31 0.0"/>
 			</geometry>
+			<material name="grey">
+				<color rgba="0.5 0.5 0.5 0.5"/>
+			</material>
 		</visual>
 	</link>
 
-	<link name="base_footprint">
+	<link name="base_link">
+		<collision>
+			<geometry>
+				<box size="0.23 0.18 0.09"/>
+			</geometry>
+		</collision>
 		<visual>
 			<geometry>
-				<box size="0.28 0.31 0.0"/>
+				<mesh filename="package://wild_thumper/meshes/wild_thumper_4wd.stl" />
 			</geometry>
-			<material name="grey">
-				<color rgba="0.5 0.5 0.5 0.5"/>
-			</material>
 		</visual>
+		<inertial>
+			<mass value="1.9"/>
+			<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+		</inertial>
 	</link>
 
 	<link name="base_imu_link">
@@ -34,7 +42,15 @@
 		</visual>
 	</link>
 
-	<xacro:asus_camera name="camera" parent="base_link">
+	<link name="mounting_plate">
+		<visual>
+			<geometry>
+				<box size="0.23 0.12 0.001"/>
+			</geometry>
+		</visual>
+	</link>
+
+	<xacro:asus_camera name="camera" parent="mounting_plate">
 		<origin xyz="0.107 0.0 0.04" rpy="0 0 0"/>
 	</xacro:asus_camera>
 
@@ -86,39 +102,115 @@
 		</visual>
 	</link>
 
-	<joint name="imu_joint" type="fixed">
-		<parent link="base_link"/>
-		<child link="base_imu_link"/>
-		<origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
-	</joint>
-
 	<joint name="base_link_joint" type="fixed">
 		<parent link="base_footprint"/>
 		<child link="base_link"/>
-		<origin xyz="0.0 0.0 0.13" rpy="0 0 0"/>
+		<origin xyz="0.0 0.0 0.082" rpy="0 0 0"/>
 	</joint>
 
-	<joint name="sonar_forward_joint" type="fixed">
+	<joint name="mounting_plate_joint" type="fixed">
 		<parent link="base_link"/>
+		<child link="mounting_plate"/>
+		<origin xyz="0.0 0.0 0.044" rpy="0 0 0"/>
+	</joint>
+
+	<joint name="imu_joint" type="fixed">
+		<parent link="mounting_plate"/>
+		<child link="base_imu_link"/>
+		<origin xyz="0.06 -0.03 0.058" rpy="0 0 0"/>
+	</joint>
+
+	<joint name="sonar_forward_joint" type="fixed">
+		<parent link="mounting_plate"/>
 		<child link="sonar_forward"/>
 		<origin xyz="0.115 0.0 -0.012" rpy="0 0 0"/>
 	</joint>
 
 	<joint name="sonar_backward_joint" type="fixed">
-		<parent link="base_link"/>
+		<parent link="mounting_plate"/>
 		<child link="sonar_backward"/>
 		<origin xyz="-0.115 0.0 -0.012" rpy="0 ${PI} 0"/>
 	</joint>
 
 	<joint name="ir_left_joint" type="fixed">
-		<parent link="base_link"/>
+		<parent link="mounting_plate"/>
 		<child link="ir_left"/>
 		<origin xyz="0.0 ${0.072+0.015} -0.045" rpy="0 0 ${PI/2}"/>
 	</joint>
 
 	<joint name="ir_right_joint" type="fixed">
-		<parent link="base_link"/>
+		<parent link="mounting_plate"/>
 		<child link="ir_right"/>
 		<origin xyz="0.0 ${-0.072-0.015} -0.045" rpy="0 0 ${-PI/2}"/>
 	</joint>
+
+	<xacro:macro name="wheel" params="pos side xyz rpy">   
+		<link name="${pos}_${side}_wheel">
+			<visual>
+				<origin xyz="0 0 0" rpy="0 0 0"/>
+				<geometry>
+					<mesh filename="package://wild_thumper/meshes/wheel_${side}.stl" />
+				</geometry>
+			</visual>
+			<collision>
+				<origin xyz="0 0 0" rpy="${-PI/2} 0 0"/>
+				<geometry>
+					<cylinder radius="0.06" length="0.06"/>
+				</geometry>
+			</collision>
+			<inertial>
+				<origin xyz="0 0 0" rpy="0 0 0"/>
+				<mass value="0.1"/>
+				<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+			</inertial>
+		</link>
+		<joint name="${pos}_${side}_wheel_joint" type="continuous">
+			<parent link="base_link"/>
+			<child link="${pos}_${side}_wheel"/>
+			<axis xyz="0 1 0"/>
+			<origin xyz="${xyz}" rpy="${rpy}"/>
+		</joint>
+	</xacro:macro>
+
+	<gazebo reference="front_left_wheel">
+		<dampingFactor>0.001</dampingFactor>
+	</gazebo>
+	<gazebo reference="front_right_wheel">
+		<dampingFactor>0.001</dampingFactor>
+	</gazebo>
+
+	<xacro:wheel pos="aft" side="left"  xyz="-0.06398 0.11407 -0.022446" rpy="0 0 0" />
+	<xacro:wheel pos="aft" side="right" xyz="-0.07397 -0.11408 -0.022446" rpy="0 0 0" />
+	<xacro:wheel pos="front" side="left"  xyz="0.07602 0.11407 -0.022446" rpy="0 0 0" />
+	<xacro:wheel pos="front" side="right" xyz="0.07397 -0.11408 -0.022446" rpy="0 0 0" />
+
+	<gazebo>
+		<plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
+			<robotNamespace>/</robotNamespace>
+			<jointName>aft_left_wheel_joint, aft_right_wheel_joint, front_left_wheel_joint, front_right_wheel_joint</jointName>
+			<updateRate>10.0</updateRate>
+			<alwaysOn>true</alwaysOn>
+		</plugin>
+
+		<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
+			<robotNamespace>/</robotNamespace>
+			<alwaysOn>true</alwaysOn>
+			<updateRate>10.0</updateRate>
+			<leftJoint>aft_right_wheel_joint</leftJoint>
+			<rightJoint>aft_left_wheel_joint</rightJoint>
+			<wheelSeparation>0.252</wheelSeparation>
+			<wheelDiameter>0.12</wheelDiameter>
+			<wheelTorque>5.0</wheelTorque>
+			<commandTopic>cmd_vel</commandTopic>
+			<odometryTopic>odom</odometryTopic>
+			<odometryFrame>odom</odometryFrame>
+			<robotBaseFrame>base_footprint</robotBaseFrame>
+			<rosDebugLevel>Info</rosDebugLevel>
+			<publishWheelTF>false</publishWheelTF>
+			<publishWheelJointState>true</publishWheelJointState>
+			<wheelAcceleration>0.0</wheelAcceleration>
+			<odometrySource>world</odometrySource>
+			<publishTf>true</publishTf>
+		</plugin>
+	</gazebo>
 </robot>
diff --git a/worlds/test.world b/worlds/test.world
new file mode 100644
index 0000000..8fc420c
--- /dev/null
+++ b/worlds/test.world
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.4" >
+	<world name="default" >
+		<include>
+			<uri>model://ground_plane</uri>
+		</include>
+		<include>
+			<uri>model://sun</uri>
+		</include>
+		<include>
+			<uri>model://gas_station</uri>
+			<name>gas_station</name>
+			<pose>-2.0 7.0 0 0 0 0</pose>
+		</include>
+	</world>
+</sdf>